TY - GEN
T1 - Self-sustaining control of two-wheel mobile manipulator using sliding mode control
AU - Abeygunawardhana, P. K.W.
AU - Defoort, Michael
AU - Murakami, Toshiyuki
PY - 2010
Y1 - 2010
N2 - Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand sliding mode control is a good candidate to address the nonlinear/under actuated system. This paper presents the control methods for balancing of two-wheel mobile manipulator. This paper proposes a novel second order sliding mode controller using twisting algorithm, disturbance observer and dynamics of double inverted pendulum. Dynamics of double inverted pendulum is used to design the control equation of sliding mode controller. Twisting algorithm is used to design the control input. Disturbance observer is compensated model uncertainties and external disturbances. Posture of two wheel mobile manipulator can successfully stabilized by this novel controller.
AB - Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand sliding mode control is a good candidate to address the nonlinear/under actuated system. This paper presents the control methods for balancing of two-wheel mobile manipulator. This paper proposes a novel second order sliding mode controller using twisting algorithm, disturbance observer and dynamics of double inverted pendulum. Dynamics of double inverted pendulum is used to design the control equation of sliding mode controller. Twisting algorithm is used to design the control input. Disturbance observer is compensated model uncertainties and external disturbances. Posture of two wheel mobile manipulator can successfully stabilized by this novel controller.
KW - Disturbance observer
KW - Double inverted pendulum
KW - Null space
KW - Sliding mode control
KW - Two-wheel mobile manipulator
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U2 - 10.1109/AMC.2010.5464027
DO - 10.1109/AMC.2010.5464027
M3 - Conference contribution
AN - SCOPUS:77953800858
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 792
EP - 797
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -